DocumentCode
702146
Title
Robust MPC of constrained discrete-time nonlinear systems based on zonotopes
Author
Bravo, J.M. ; Alamo, T. ; Limon, D. ; Camacho, E.F.
Author_Institution
Departamento de Ingeniería Electrónica, Sistemas Informaticos y Automatica. Universidad de Huelva, Carretera Huelva - La Rabida 21071 Palos de la Fra. Huelva, Spain
fYear
2003
fDate
1-4 Sept. 2003
Firstpage
2035
Lastpage
2040
Abstract
A robust MPC for constrained nonlinear system with uncertainties is presented. Uncertain evolution sets are used to predict the evolution of the system under any admisible uncertainty. The robust stability is guaranteed by a terminal and contractive constraint that drives the system to a robust positively invariant set. A new method to calculate the uncertain evolution sets is used. The method uses zonotopes to represent the uncertain sets.
Keywords
Cost function; Nonlinear systems; Predictive control; Robust stability; Robustness; Uncertainty; constrained control; intervals; nonlinear systems; predictive control; robust stability;
fLanguage
English
Publisher
ieee
Conference_Titel
European Control Conference (ECC), 2003
Conference_Location
Cambridge, UK
Print_ISBN
978-3-9524173-7-9
Type
conf
Filename
7085265
Link To Document